Spatial query object. Used to determine obstacles and agents near an agent – based on a kd-tree. More...

#include <SpatialQueryKDTree.h>

Inheritance diagram for Menge::Agents::BergKDTree:

Public Member Functions
	BergKDTree ()
	Constructor.

virtual void	setAgents (const std::vector< BaseAgent * > &agents)
	Define the set of agents on which kd-tree will query. More...

virtual void	updateAgents ()
	Allows the spatial query structure to update its knowledge of the agent positions.

virtual void	agentQuery (ProximityQuery *query) const
	performs an agent based proximity query More...

virtual void	processObstacles ()
	Do the necessary pre-computation to support obstacle definitions.

virtual void	obstacleQuery (ProximityQuery *query) const
	perform an obstacle based proximity query More...

virtual bool	queryVisibility (const Vector2 &q1, const Vector2 &q2, float radius) const
	Queries the visibility between two points within a specified radius. More...

Public Member Functions inherited from Menge::Agents::SpatialQuery
	SpatialQuery ()
	Constructor.

virtual void	addObstacle (Obstacle *obs)
	adds an obstacle to the internal list of the spatial query

const std::vector< Obstacle * >	getObstacles ()
	returns the collected obstacles of the spatial query for use in visualization More...

virtual void	setNeighborVisibleTest (bool state)
	Sets the spatial query to include visibility in finding agent neighbors. More...

void	setTestVisibility (bool status)
	Sets the test visibility status of the neighbor functions. More...

bool	getTestVisibility () const
	Reports the test visibility property of the spatial query instance. More...

Public Member Functions inherited from Menge::Element
void	destroy ()
	This supplants the destructor. More...

virtual BFSM::Task *	getTask ()
	Return an optional task associated with this element. More...

virtual SceneGraph::GLNode *	getSGNode ()
	Returns an optional visualization element associated with the element. More...

Protected Attributes
AgentKDTree	_agentTree
	A kd-tree for the agent queries.

ObstacleKDTree	_obstTree
	A kd-tree for the obstacle queries.

Protected Attributes inherited from Menge::Agents::SpatialQuery
bool	_testVisibility
	Dictates if visibility queries should be used (true) for neighbor queries or not (false).

std::vector< Obstacle * >	_obstacles
	an internal central list of obstacles

Additional Inherited Members
Protected Member Functions inherited from Menge::Agents::SpatialQuery
virtual	~SpatialQuery ()
	Virtual destructor.

Detailed Description

Spatial query object. Used to determine obstacles and agents near an agent – based on a kd-tree.

Member Function Documentation

virtual void Menge::Agents::BergKDTree::agentQuery ( ProximityQuery * query ) const

inlinevirtual

performs an agent based proximity query

Parameters

query a pointer to the proximity query to be performed

Implements Menge::Agents::SpatialQuery.

virtual void Menge::Agents::BergKDTree::obstacleQuery ( ProximityQuery * query ) const

inlinevirtual

perform an obstacle based proximity query

Parameters

query a pointer to the proximity query to be performed

Implements Menge::Agents::SpatialQuery.

virtual bool Menge::Agents::BergKDTree::queryVisibility	(	const Vector2 &	q1,
		const Vector2 &	q2,
		float	radius
	)		const

inlinevirtual

Queries the visibility between two points within a specified radius.

Parameters

q1	The first point between which visibility is to be tested.
q2	The second point between which visibility is to be tested.
radius	The radius within which visibility is to be tested.

Returns: True if q1 and q2 are mutually visible within the radius; false otherwise.

Implements Menge::Agents::SpatialQuery.

virtual void Menge::Agents::BergKDTree::setAgents ( const std::vector< BaseAgent * > & agents )

inlinevirtual

Define the set of agents on which kd-tree will query.

Parameters

agents The set of agents in the simulator to be managed.

Implements Menge::Agents::SpatialQuery.

The documentation for this class was generated from the following file:

src/menge/MengeCore/Agents/SpatialQueries/SpatialQueryKDTree.h

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation